WO2010116873A1 - 車両用ブレーキ装置 - Google Patents
車両用ブレーキ装置 Download PDFInfo
- Publication number
- WO2010116873A1 WO2010116873A1 PCT/JP2010/054569 JP2010054569W WO2010116873A1 WO 2010116873 A1 WO2010116873 A1 WO 2010116873A1 JP 2010054569 W JP2010054569 W JP 2010054569W WO 2010116873 A1 WO2010116873 A1 WO 2010116873A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- brake
- braking
- fluid pressure
- electric motor
- regenerative braking
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
Definitions
- the present invention relates to a vehicle brake device capable of regenerative braking and hydraulic pressure braking, which includes an electric brake hydraulic pressure generating device that generates a brake hydraulic pressure for hydraulic pressure braking.
- the operation of the brake pedal by the driver is converted into an electric signal, and the wheel cylinder is operated with the brake fluid pressure generated by the slave cylinder that operates based on this electric signal, and the brake pedal is used as a backup for the failure of the slave cylinder.
- the BBW (brake-by-wire) brake system enables the stroke of the brake pedal by providing a master cylinder that operates with the brake cylinder and absorbing the brake fluid delivered by the master cylinder with a stroke simulator when the slave cylinder is normal. It is known from patent document 1. Japanese Patent Laid-Open No. 2008-110633
- a vehicle brake device capable of regenerative braking and hydraulic pressure braking, wherein the electric brake hydraulic pressure generating device generates a brake hydraulic pressure for hydraulic pressure braking.
- the vehicle brake device according to the first feature wherein the electric brake fluid pressure generating device is operated to eliminate an invalid stroke in fluid pressure braking before switching from regenerative braking to fluid pressure braking.
- the electric brake hydraulic pressure generating device eliminates the invalid stroke by supplying a constant current to the electric motor.
- a vehicle brake device having a fourth feature is proposed.
- the electric brake hydraulic pressure generating device supplies the electric motor to the electric motor until the operation amount of the electric motor reaches a predetermined value.
- a vehicle brake system characterized in that the ineffective stroke is eliminated by gradually increasing the current.
- the electric brake hydraulic pressure generating device eliminates the invalid stroke based on the fluctuation of the brake hydraulic pressure accompanying the operation of the electric motor.
- a vehicle brake device which comprises determining the amount of operation of the electric motor necessary for causing the motor.
- the slave cylinder 23 of the embodiment corresponds to the electric brake fluid pressure generating device of the present invention.
- the electric brake hydraulic pressure generating device when it is detected that the vehicle speed has become less than the predetermined value during the execution of regenerative braking, the electric brake hydraulic pressure generating device is driven to eliminate the invalid stroke. It is possible to minimize the wasteful drive of the electric brake fluid pressure generating device during the execution of the regenerative braking.
- FIG. 1 is a hydraulic circuit diagram of the vehicle brake device in the normal state.
- First Embodiment FIG. 2 is a hydraulic circuit diagram at the time of abnormality of the vehicle brake device.
- First Embodiment FIG. 3 is a flow chart for explaining the operation at the time of switching from regenerative braking to hydraulic braking.
- First Embodiment FIG. 4 is a flow chart for explaining the operation at the time of switching from regenerative braking to hydraulic braking.
- Second Embodiment FIG. 5 is a time chart for explaining the operation at the time of switching from regenerative braking to hydraulic braking.
- Second Embodiment FIG. 6 is a time chart for explaining the operation at the time of switching from regenerative braking to hydraulic braking. (Conventional example)
- FIGS. 1 to 3 a first embodiment of the present invention will be described based on FIGS. 1 to 3.
- the vehicle according to the present embodiment is a hybrid vehicle or an electric vehicle, and not only can the four wheels be hydraulically braked by the brake fluid pressure generated by the slave cylinder 23, but the drive wheels are connected to the motor generator to perform regenerative braking. Be done.
- the electronic control unit coordinates and controls both regenerative braking by the motor generator and hydraulic braking by the slave cylinder 23, and regenerates the brake hydraulic pressure detected by the hydraulic pressure sensor Sa (that is, the driver's required braking force). Power and hydraulic braking forces are distributed, and the regenerative braking force by the motor generator and the hydraulic braking force by the slave cylinder 23 are controlled according to the distribution.
- step S5 a constant current is supplied to the electric motor 52 at a command from the electronic control unit U, and at this time, the current detected by the current sensor Sd is fed back to the electronic control unit U.
- the electric motor 52 By driving the electric motor 52 with a constant current in this manner, it is possible to reliably generate a driving force corresponding to the driving load of the slave cylinder 23 in the electric motor 52.
- step S6 an increase rate of brake hydraulic pressure (increase amount of brake hydraulic pressure per unit time) detected by the hydraulic pressure sensor Sb at the start of energization of the electric motor 52 is calculated, and in step S7 brake hydraulic pressure is increased. If the rate is less than the predetermined value, the energization setting time to the electric motor 52 is increased in step S8. Conversely, if the increasing rate of the brake fluid pressure is equal to or more than the predetermined value, the energization setting to the electric motor 52 is set in step S9. The time is reduced, and when the power setting time has elapsed in step S10, the power supply to the electric motor 52 is stopped in step S11. As a result, the electric motor 52 can be operated without excess and deficiency, and the invalid stroke can be reliably eliminated.
- the slave cylinder 23 can immediately generate the brake fluid pressure when the vehicle speed is reduced to less than the change-over start vehicle speed and the slave cylinder 23 operates to switch from regenerative braking to hydraulic braking, as described in FIG. It is possible to avoid the depression of the brake fluid pressure and to precisely match the sum of the regenerative braking force and the fluid pressure braking force to the required braking force, and to avoid the deterioration of the brake feeling due to the depression of the braking force.
- the reaction force permitting valve consisting of a normally closed solenoid valve
- the brake fluid is automatically closed in the fluid pressure chamber 30 of the stroke simulator 26
- the brake fluid is passed through the check valve 24 and returned to the master cylinder 11 side. It is possible to prevent the position of the brake pedal 12 from changing.
- the slave cylinder 23 when regenerative braking is performed, the slave cylinder 23 is always driven to eliminate the invalid stroke, but before the vehicle speed falls below the switching start vehicle speed, the driver brake pedal When 12 is returned, the hydraulic pressure braking by the slave cylinder 23 is not executed, so the drive of the slave cylinder 23 for eliminating the invalid stroke may be wasted.
- step S4A is added after step S4 of the flowchart of FIG. 3 showing the control of the first embodiment. That is, when only the regenerative braking is being performed in step S4, when the vehicle speed detected by the vehicle speed sensor Sc in step S4A becomes less than the transfer preparation start vehicle speed slightly larger than the transfer start vehicle speed, the slave in steps S5 to S11. By driving the cylinder 23 to eliminate the invalid stroke, preparation is performed when the vehicle speed falls below the change-over start vehicle speed and the regenerative braking is switched to the hydraulic braking.
- the slave cylinder 23 is not driven until the vehicle speed falls below the transfer preparation start vehicle speed slightly larger than the switch start vehicle speed, and the invalid stroke is not eliminated.
- the driver returns the brake pedal 12, it is possible to prevent the slave cylinder 23 from being unnecessarily driven to eliminate the invalid stroke.
- the full regenerative braking mode When the driver depresses the brake pedal 12 at time t0, the full regenerative braking mode is entered, the required braking force rises from zero to a predetermined value until time t1, regenerative braking is performed, and the deceleration also rises from zero to a predetermined value .
- the hydraulic pressure braking preparation flag is set, and the slave cylinder 23 slightly operates to eliminate the invalid stroke.
- the full regenerative braking mode is switched to the switching mode, and the regenerative braking force decreases toward zero over time t4, and the slave cylinder 23 operates to zero the hydraulic braking force And increase toward a predetermined value.
- the brake hydraulic pressure immediately rises when the slave cylinder 23 is officially operated at time t3, and the regenerative braking force and the hydraulic braking force
- the total braking force obtained by adding can be made to coincide with the required braking force, whereby the depression of the braking force at the time of holding can be prevented and the brake feeling can be enhanced.
- the hold mode is switched to the full fluid pressure braking mode, the brake fluid pressure generated by the slave cylinder 23 is maintained at a constant value, regenerative braking is finished, and all the required braking forces are It is covered by hydraulic braking.
- the full hydraulic braking mode is switched to the non-braking mode, and the deceleration of the vehicle body becomes zero.
- the slave cylinder 23 is illustrated as an electric brake fluid pressure generating device in the embodiment, the electric brake fluid pressure generating device adopts an arbitrary structure as long as it generates a brake fluid pressure electrically. can do.
- the wheel cylinders 16, 17; 20, 20 are directly connected to the slave cylinders 23.
- a VSA (vehicle stability assist) device or an ABS (antilock brake system) is interposed between them.
- a device may be interposed.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Fluid Mechanics (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
16 ホイールシリンダ
17 ホイールシリンダ
20 ホイールシリンダ
21 ホイールシリンダ
23 スレーブシリンダ(電気的ブレーキ液圧発生装置)
52 電動モータ
Claims (6)
- 回生制動および液圧制動が可能な車両用ブレーキ装置であって、
液圧制動のためのブレーキ液圧を発生する電気的ブレーキ液圧発生装置を備えるものにおいて、
回生制動から液圧制動への切り替え前に、前記電気的ブレーキ液圧発生装置を作動させて液圧制動における無効ストロークを消滅させることを特徴とする車両用ブレーキ装置。 - 回生制動の実行中であることが検知された場合に前記無効ストロークを消滅させることを特徴とする、請求項1に記載の車両用ブレーキ装置。
- 回生制動の実行中に車速が所定値未満になったことが検知された場合に前記無効ストロークを消滅させることを特徴とする、請求項1に記載の車両用ブレーキ装置。
- 前記電気的ブレーキ液圧発生装置は、電動モータに一定の電流を供給することで前記無効ストロークを消滅させることを特徴とする、請求項1~請求項3の何れか1項に記載の車両用ブレーキ装置。
- 前記電気的ブレーキ液圧発生装置は、電動モータの作動量が所定値に達するまで該電動モータに供給する電流を漸増することで前記無効ストロークを消滅させることを特徴とする、請求項1~請求項3の何れか1項に記載の車両用ブレーキ装置。
- 前記電気的ブレーキ液圧発生装置は、前記電動モータの作動に伴うブレーキ液圧の変動に基づいて、前記無効ストロークを消滅させるために必要な前記電動モータ作動量を決定することを特徴とする、請求項4または請求項5に記載の車両用ブレーキ装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201080013447.2A CN102361786B (zh) | 2009-04-08 | 2010-03-17 | 车辆用制动装置 |
JP2011508311A JP5497742B2 (ja) | 2009-04-08 | 2010-03-17 | 車両用ブレーキ装置 |
EP10761574.2A EP2418132B1 (en) | 2009-04-08 | 2010-03-17 | Brake device for vehicle |
US13/258,525 US8794719B2 (en) | 2009-04-08 | 2010-03-17 | Brake device for vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009-093575 | 2009-04-08 | ||
JP2009093575 | 2009-04-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010116873A1 true WO2010116873A1 (ja) | 2010-10-14 |
Family
ID=42936160
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/054569 WO2010116873A1 (ja) | 2009-04-08 | 2010-03-17 | 車両用ブレーキ装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8794719B2 (ja) |
EP (1) | EP2418132B1 (ja) |
JP (1) | JP5497742B2 (ja) |
CN (1) | CN102361786B (ja) |
WO (1) | WO2010116873A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2483477A (en) * | 2010-09-09 | 2012-03-14 | Lightning Car Company Ltd | Control of regenerative and friction braking |
JP2014061794A (ja) * | 2012-09-21 | 2014-04-10 | Nissan Motor Co Ltd | 車両用制動制御装置 |
CN103998304A (zh) * | 2011-12-20 | 2014-08-20 | 日立汽车***株式会社 | 制动装置 |
JP2015074369A (ja) * | 2013-10-10 | 2015-04-20 | 日産自動車株式会社 | 前後加速度制御装置 |
WO2023157873A1 (ja) * | 2022-02-16 | 2023-08-24 | 株式会社アドヴィックス | 制動制御装置 |
JP7481152B2 (ja) | 2020-04-12 | 2024-05-10 | 株式会社Subaru | 車両制御システム |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3002508B1 (fr) * | 2013-02-25 | 2016-07-29 | Commissariat Energie Atomique | Systeme de freinage d'un vehicule |
JP5979101B2 (ja) * | 2013-08-26 | 2016-08-24 | トヨタ自動車株式会社 | 車両 |
DE102015204866A1 (de) * | 2015-03-18 | 2016-09-22 | Robert Bosch Gmbh | Verfahren zum Betreiben eines rekuperativen Bremssystems eines Fahrzeugs und Steuervorrichtung für ein rekuperatives Bremssystem eines Fahrzeugs |
JP6595417B2 (ja) * | 2016-08-10 | 2019-10-23 | 株式会社アドヴィックス | 車両用制動装置 |
KR102347687B1 (ko) * | 2017-02-20 | 2022-01-05 | 현대자동차주식회사 | 자율 주행 중 제동 이질감 저감을 위한 제동 제어 방법 |
CN107310557B (zh) * | 2017-07-05 | 2019-08-02 | 重庆大学 | 一种混合动力汽车制动模式切换协调控制的方法 |
CN112848907B (zh) * | 2019-11-12 | 2022-09-30 | 广州汽车集团股份有限公司 | 车辆制动控制方法及装置 |
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JP2001211502A (ja) * | 2000-01-21 | 2001-08-03 | Sumitomo Denko Brake Systems Kk | 制動トルク制御装置 |
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JP2000225932A (ja) * | 1999-02-04 | 2000-08-15 | Toyota Motor Corp | 電気自動車の制動制御装置 |
DE102004027256A1 (de) | 2003-06-05 | 2005-01-05 | Continental Teves Ag & Co. Ohg | Bremssystem eines Kraftfahrzeuges |
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-
2010
- 2010-03-17 JP JP2011508311A patent/JP5497742B2/ja not_active Expired - Fee Related
- 2010-03-17 US US13/258,525 patent/US8794719B2/en not_active Expired - Fee Related
- 2010-03-17 CN CN201080013447.2A patent/CN102361786B/zh active Active
- 2010-03-17 EP EP10761574.2A patent/EP2418132B1/en not_active Not-in-force
- 2010-03-17 WO PCT/JP2010/054569 patent/WO2010116873A1/ja active Application Filing
Patent Citations (6)
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JP2006232117A (ja) * | 2005-02-25 | 2006-09-07 | Toyota Motor Corp | 制動制御装置 |
JP2006312384A (ja) * | 2005-05-09 | 2006-11-16 | Honda Motor Co Ltd | 車両の回生制動および摩擦制動装置 |
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JP2014061794A (ja) * | 2012-09-21 | 2014-04-10 | Nissan Motor Co Ltd | 車両用制動制御装置 |
JP2015074369A (ja) * | 2013-10-10 | 2015-04-20 | 日産自動車株式会社 | 前後加速度制御装置 |
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Also Published As
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JP5497742B2 (ja) | 2014-05-21 |
JPWO2010116873A1 (ja) | 2012-10-18 |
EP2418132A4 (en) | 2012-10-10 |
EP2418132B1 (en) | 2013-12-11 |
US20120007417A1 (en) | 2012-01-12 |
US8794719B2 (en) | 2014-08-05 |
EP2418132A1 (en) | 2012-02-15 |
CN102361786B (zh) | 2014-03-19 |
CN102361786A (zh) | 2012-02-22 |
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